Although many companies have developed robots that assist humans in the activities of daily living, safety requirements and test methods for such robots have not been established. Given the risk associated with a robot malfunctioning in the human living space, from the viewpoints of safety and EMC, it is necessary that the robot does not create a hazardous situation even when exposed to possibly severe electromagnetic disturbances in the operating environment. Thus, in immunity tests for personal care robots, the safety functions should be more rigorously tested than the other functions, and be repeatedly activated in order to ascertain that the safety functions are not lost in the presence of electromagnetic disturbances. In this paper, immunity test procedures for personal care robots are proposed that take into account functional safety requirements. A variety of test apparatuses are presented, which were built for activating the safety functions of robots, and detecting whether they were in a safe state. The practicality of the developed immunity test system is demonstrated using actual robots.

Toward the actualization of an automatic navigation system for fetoscopic tracheal occlusion (FETO) surgery, this paper proposes a 3D ultrasound (US) calibration-based approach that can locate the fetal facial surface, oral cavity, and airways by a registration between a 3D fetal model and 3D US images. The proposed approach consists of an offline process and online process. The offline process first reconstructs the 3D fetal model with the anatomies of the oral cavity and airways. Then, a point-based 3D US calibration system based on real-time 3D US images, an electromagnetic (EM) tracking device, and a novel cones' phantom, computes the matrix that transforms the 3D US image space into the world coordinate system. In the online process, by scanning the mother's body with a 3D US probe, 3D US images containing the fetus are obtained. The fetal facial surface extracted from the 3D US images is registered to the 3D fetal model using an ICP-based (iterative closest point) algorithm and the calibration matrices, so that the fetal facial surface as well as the oral cavity and airways are located. The results indicate that the 3D US calibration system achieves an FRE (fiducial registration error) of 1.49±0.44mm and a TRE (target registration error) of 1.81±0.56mm by using 24 fiducial points from two US volumes. A mean TRE of 1.55±0.46 mm is also achieved for measuring location accuracy of the 3D fetal facial surface extracted from 3D US images by 14 target markers, and mean location errors of 2.51±0.47 mm and 3.04±0.59 mm are achieved for indirectly measuring location accuracy of the pharynx and the entrance of the trachea, respectively, which satisfy the requirement of the FETO surgery.

Available bandwidth, along with latency and packet loss rate, is an essential metric for the efficient operation of overlay network applications. However, the measurement of available bandwidth creates a larger traffic overhead than other metrics. Measurement conflicts on route-overlapping paths can also seriously degrade measurement accuracy and cause a non-negligible increase in the network load. In this paper, we propose a distributed method for measuring the available bandwidth in overlay networks that can reduce measurement conflicts while maintaining high measurement accuracy at low cost. Our main idea is that neighboring overlay nodes exchange route information to detect overlapping paths and share the measurement results of overlapping paths to configure parameter settings for available bandwidth measurements. Our simulation results show that the relative errors in the measurement results of our method are approximately only 65% of those of the existing method. The measurement accuracy of our method remains better than that of the existing method when the total measurement traffic loads of both methods are equal.

Distance bounding protocols permit a verifier to compute the distance to a prover by measuring the execution time of n rounds of challenge-response authentication. Many protocols have been proposed to reduce the false acceptance rate of the challenge-response procedure. Until now, it has been widely believed that the lowest bound of the false acceptance rate is (1/2)n when n is the number of rounds and the prover can send only one response bit for each round. In this paper, we propose a new distance bounding protocol whose false acceptance rate is (1/3)n against the distance fraud attacks and the mafia fraud attacks. To reduce the false acceptance rate, we use two challenge bits for each iteration and introduce a way of expressing three cases with the use of only one response bit, the same bit length as existing protocols. Our protocol is the first distance bounding protocol whose false acceptance rate is lower than the currently believed minimal bound without increasing the number of response bits for each round.

Due to the recent technical advances, GPUs are used for general applications as well as screen display. Many research results have been proposed to the performance of previous CPU-based algorithms by a few hundred times using the GPUs. In this paper, we propose a density-based clustering algorithm called GSCAN, which reduces the number of unnecessary distance computations using a grid structure. As a result of our experiments, GSCAN outperformed CUDA-DClust [2] and DBSCAN [3] by up to 13.9 and 32.6 times, respectively.

Collaborative business has been increasingly developing with the environment of globalization and advanced information technologies. In a collaboration environment with multiple organizations, participants from different organizations always have different views about modeling the overall business process due to different knowledge and cultural backgrounds. Moreover, flexible support, privacy preservation and process reuse are important issues that should be considered in business process management across organizational boundaries. This paper presents a novel approach of modeling interorganizational business process for collaboration. Our approach allows for modeling loosely coupled interorganizational business process considering different views of organizations. In the proposed model, organizations have their own local process views of modeling business process instead of sharing pre-defined global processes. During process cooperation, local process of an organization can be invisible to other organizations. Further, we propose the coordination mechanisms for different local process views to detect incompatibilities among organizations. We illustrate our proposed approach by a case study of interorganizational software development collaboration.

Turbo mode, which accelerates many applications without major change of existing systems, is widely used in commercial processors. Since time duration or powerfulness of turbo mode depends on peak temperature of a processor chip, reducing the peak temperature can reinforce turbo mode. This paper presents that adding small amount of hardware allows microprocessors to reduce the peak temperature drastically and then to reinforce turbo mode successfully. Our approach is to find out a few small units that become heat sources in a processor and to appropriately duplicate them for reduction of their power density. By duplicating the limited units and using the copies evenly, the processor can show significant performance improvement while achieving area-efficiency. The experimental result shows that the proposed method achieves up to 14.5% of performance improvement in exchange for 2.8% of area increase.

The millimeter-wave band suffers strong attenuation due to rain. While calculating the link budget for a wireless system using this frequency band, the behavior of rain, attenuation due to rain, and the amount of degradation must be accurately understood. This paper presents an evaluation of the influence of rain and its attenuation on link performance in a Tokyo Institute of Technology (Tokyo Tech) millimeter-wave model mesh network. Conventional statistical analyses including cumulative rain rate distribution and specific rain attenuation constants are performed on data collected from 2009 onwards. The unique effects arising due to the highly localized behaviors of strong rainfalls have become clear and are characterized in terms of variograms rather than correlation coefficients. Spatial separation even in the small network here with links of less than 1 km provides effective diversity branches for better availability performance.

Information-Based Access Control (IBAC) has been proposed as an improvement to History-Based Access Control (HBAC) model. In modern component-based systems, these access control models verify that all the code responsible for a security-sensitive operation is sufficiently authorized to execute that operation. The HBAC model, although safe, may incorrectly prevent the execution of operations that should be executed. The IBAC has been shown to be more precise than HBAC maintaining its safety level while allowing sufficiently authorized operations to be executed. However the verification problem of IBAC program has not been discussed. This paper presents a formal model for IBAC programs based on extended weighted pushdown systems (EWPDS). The mapping process between the IBAC original semantics and the EWPDS structure is described. Moreover, the verification problem for IBAC programs is discussed and several typical IBAC program examples using our model are implemented.

We proposes a new adaptive spectral masking method of algebraic vector quantization (AVQ) for non-sparse signals in the modified discreet cosine transform (MDCT) domain. This paper also proposes switching the adaptive spectral masking on and off depending on whether or not the target signal is non-sparse. The switching decision is based on the results of MDCT-domain sparseness analysis. When the target signal is categorized as non-sparse, the masking level of the target MDCT coefficients is adaptively controlled using spectral envelope information. The performance of the proposed method, as a part of ITU-T G.711.1 Annex D, is evaluated in comparison with conventional AVQ. Subjective listening test results showed that the proposed method improves sound quality by more than 0.1 points on a five-point scale on average for speech, music, and mixed content, which indicates significant improvement.

Numerous studies have been focusing on the improvement of bag of features (BOF), histogram of oriented gradient (HOG) and scale invariant feature transform (SIFT). However, few works have attempted to learn the connection between them even though the latter two are widely used as local feature descriptor for the former one. Motivated by the resemblance between BOF and HOG/SIFT in the descriptor construction, we improve the performance of HOG/SIFT by a) interpreting HOG/SIFT as a variant of BOF in descriptor construction, and then b) introducing recently proposed approaches of BOF such as locality preservation, data-driven vocabulary, and spatial information preservation into the descriptor construction of HOG/SIFT, which yields the BOF-driven HOG/SIFT. Experimental results show that the BOF-driven HOG/SIFT outperform the original ones in pedestrian detection (for HOG), scene matching and image classification (for SIFT). Our proposed BOF-driven HOG/SIFT can be easily applied as replacements of the original HOG/SIFT in current systems since they are generalized versions of the original ones.

The development of an HMM-based speech synthesis system for a new language requires resources like speech database and segment-phonetic labels. As an under-resourced language, Malay lacks the necessary resources for the development of such a system, especially segment-phonetic labels. This research aims at developing an HMM-based speech synthesis system for Malay. We are proposing the use of two types of training HMMs, which are the benchmark iterative training incorporating the DAEM algorithm and isolated unit training applying segment-phonetic labels of Malay. The preferred method for preparing segment-phonetic labels is the automatic segmentation. The automatic segmentation of Malay speech database is performed using two approaches which are uniform segmentation that applies fixed phone duration, and a cross-lingual approach that adopts the acoustic model of English. We have measured the segmentation error of the two segmentation approaches to ascertain their relative effectiveness. A listening test was used to evaluate the intelligibility and naturalness of the synthetic speech produced from the iterative and isolated unit training. We also compare the performance of the HMM-based speech synthesis system with existing Malay speech synthesis systems.

Developers often face difficulties while using APIs. API usage patterns can aid them in using APIs efficiently, which are extracted from source code stored in software repositories. Previous approaches have mined repositories to extract API usage patterns by simply applying data mining techniques to the collection of method invocations of API objects. In these approaches, respective functional roles of invoked methods within API objects are ignored. The functional role represents what type of purpose each method actually achieves, and a method has a specific predefined order of invocation in accordance with its role. Therefore, the simple application of conventional mining techniques fails to produce API usage patterns that are helpful for code completion. This paper proposes an improved approach that extracts API usage patterns at a higher abstraction level rather than directly mining the actual method invocations. It embraces a multilevel sequential mining technique and uses categorization of method invocations based on their functional roles. We have implemented a mining tool and an extended Eclipse's code completion facility with extracted API usage patterns. Evaluation results of this tool show that our approach improves existing code completion.

A 125MHz 64-phase delay-locked loop (DLL) is implemented for time recovery in a digital wire-line system. The architecture of the proposed DLL comprises a coarse-locking circuit added to a conventional DLL circuit, which consists of a delay line including a bias circuit, phase detector, charge pump, and loop filter. The proposed coarse-locking circuit reduces the locking time of the DLL and prevents harmonic locking, regardless of the duty cycle of the clock. In order to verify the performance of the proposed coarse-locking circuit, a 64-phase DLL with an operating frequency range of 40 to 200MHz is fabricated using a 0.18-µm 1-poly 6-metal CMOS process with a 1.8V supply. The measured rms and peak-to-peak jitter of the output clock are 3.07ps and 21.1ps, respectively. The DNL and INL of the 64-phase output clock are measured to be -0.338/+0.164 LSB and -0.464/+0.171 LSB, respectively, at an operating frequency of 125MHz. The area and power consumption of the implemented DLL are 0.3mm2 and 12.7mW, respectively.

Computational fluid dynamics (CFD) is an important tool for designing aircraft components. FaSTAR (Fast Aerodynamics Routines) is one of the most recent CFD packages and has various subroutines. However, its irregular and complicated data structure makes it difficult to execute FaSTAR on parallel machines due to memory access problem. The use of a reconfigurable platform based on field programmable gate arrays (FPGAs) is a promising approach to accelerating memory-bottlenecked applications like FaSTAR. However, even with hardware execution, a large number of pipeline stalls can occur due to read-after-write (RAW) data hazards. Moreover, it is difficult to predict when such stalls will occur because of the unstructured mesh used in FaSTAR. To eliminate this problem, we developed an out-of-order mechanism for permuting the data order so as to prevent RAW hazards. It uses an execution monitor and a wait buffer. The former identifies the state of the computation units, and the latter temporarily stores data to be processed in the computation units. This out-of-order mechanism can be applied to various types of computations with data dependency by changing the number of execution monitors and wait buffers in accordance with the equations used in the target computation. An out-of-order system can be reconfigured by automatic changing of the parameters. Application of the proposed mechanism to five subroutines in FaSTAR showed that its use reduces the number of stalls to less than 1% compared to without the mechanism. In-order execution was speeded up 2.6-fold and software execution was speeded up 2.9-fold using an Intel Core 2 Duo processor with a reasonable amount of overhead.

In this letter, we present a radix-R regular interconnection pattern family of factorizations for the WHT-FFT with identical stage-to-stage interconnection pattern in a unified form, where R is any power of 2. This family of algorithms has identical sparse matrix factorization in each stage and can be implemented in a merged butterfly structure, which conduce to regular and efficient memory managing scalable to high radices. And in each stage, the butterflies with same twiddle factor set are aggregated together, which can reduce the twiddle factor evaluations or accesses to the lookup table. The kinds of factorization can also be extended to FFT, WHT and SCHT with identical stage-to-stage interconnection pattern.

An energy-efficient ΔΣ modulator using a novel switched-capacitor-based integrator has been investigated. The proposed dynamic integrator uses a common-source configuration, where a MOSFET turns off after the charge redistribution is completed. Thus, only the subthreshold current flows through the integrator, resulting in high energy efficiency. A constant threshold voltage works as the virtual ground in conventional opamp-based integrators. The performance has been estimated for a 2nd-order ΔΣ modulator by transistor-level circuit simulation assuming a 0.18-µm standard CMOS technology. An FOM of 29fJ/conv-step was obtained with a peak SNDR of 82.6dB for a bandwidth and a sampling frequency of 20kHz and 5MHz, respectively.

With the development of global navigation satellite systems (GNSS), the interference among global navigation satellite systems, known as the radio frequency compatibility problem, has become a matter of great concern to system providers and user communities. The acceptable compatibility threshold should be determined in the radio frequency compatibility assessment process. However, there is no common standard for the acceptable threshold in the radio frequency compatibility assessment. This paper firstly introduces the comprehensive radio frequency compatibility methodology combining the spectral separation coefficient (SSC) and code tracking spectral sensitivity coefficient (CT_SSC). Then, a method for determination of the acceptable compatibility threshold is proposed. The proposed method considers the receiver processing phase including acquisition, code and carrier tracking and data demodulation. Simulations accounting for the interference effects are carried out at each time step and every place on earth. The simulations mainly consider the signals of GPS, Galileo and BeiDou Navigation Satellite System (BDS) in the L1 band. Results show that all of the sole systems are compatible with other GNSS systems with respect to a special receiver configuration used in the simulations.

This letter presents a novel method based on sparsity, to solve the problem of deinterleaving pulse trains. The proposed method models the problem of deinterleaving pulse trains as an underdetermined system of linear equations. After determining the mixing matrix, we find sparsest solution of an underdetermined system of linear equations using basis pursuit denoising. This method is superior to previous ones in a number of aspects. First, spurious and missing pulses would not cause any performance reduction in the algorithm. Second, the algorithm works well despite the type of pulse repetition interval modulation that is used. Third, the proposed method is able to separate similar sources.

In this paper we report on experiences gained and lessons learned by the use of the Timed OTS/CafeOBJ method in the formal verification of TESLA source authentication protocol. These experiences can be a useful guide for the users of the OTS/CafeOBJ, especially when dealing with such complex systems and protocols.